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Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics最新文献

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Powered Orthotics: Enabling Brace Technologies for Upper and Lower Limbs 动力矫形器:上肢和下肢支撑技术
Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
Pub Date : 2019-01-01 DOI: 10.1016/B978-0-12-812939-5.00010-0
Marko B. Popovic
{"title":"Powered Orthotics: Enabling Brace Technologies for Upper and Lower Limbs","authors":"Marko B. Popovic","doi":"10.1016/B978-0-12-812939-5.00010-0","DOIUrl":"https://doi.org/10.1016/B978-0-12-812939-5.00010-0","url":null,"abstract":"","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":"11 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84310498","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Wheelchairs and Other Mobility Assistance 轮椅和其他行动辅助设备
Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
Pub Date : 2019-01-01 DOI: 10.1016/b978-0-12-812939-5.00013-6
D. Sinyukov, K. Troy, M. P. Bowers, T. Padır
{"title":"Wheelchairs and Other Mobility Assistance","authors":"D. Sinyukov, K. Troy, M. P. Bowers, T. Padır","doi":"10.1016/b978-0-12-812939-5.00013-6","DOIUrl":"https://doi.org/10.1016/b978-0-12-812939-5.00013-6","url":null,"abstract":"","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":"48 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1016/b978-0-12-812939-5.00013-6","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72432175","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Sensors: Natural and Synthetic Sensors 传感器:天然和合成传感器
Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
Pub Date : 2019-01-01 DOI: 10.1016/B978-0-12-812939-5.00004-5
K. Lamkin-Kennard, Marko B. Popovic
{"title":"Sensors: Natural and Synthetic Sensors","authors":"K. Lamkin-Kennard, Marko B. Popovic","doi":"10.1016/B978-0-12-812939-5.00004-5","DOIUrl":"https://doi.org/10.1016/B978-0-12-812939-5.00004-5","url":null,"abstract":"","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":"27 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78951381","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 10
Kinematics and Dynamics 运动学与动力学
Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
Pub Date : 2019-01-01 DOI: 10.1016/B978-0-12-812939-5.00002-1
Marko B. Popovic, M. P. Bowers
{"title":"Kinematics and Dynamics","authors":"Marko B. Popovic, M. P. Bowers","doi":"10.1016/B978-0-12-812939-5.00002-1","DOIUrl":"https://doi.org/10.1016/B978-0-12-812939-5.00002-1","url":null,"abstract":"","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":"35 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81653028","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Artificial Organs, Tissues, and Support Systems 人造器官、组织和支持系统
Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
Pub Date : 2019-01-01 DOI: 10.1016/B978-0-12-812939-5.00007-0
H. Tashiro, Marko B. Popovic, I. Dobrev, Y. Terasawa
{"title":"Artificial Organs, Tissues, and Support Systems","authors":"H. Tashiro, Marko B. Popovic, I. Dobrev, Y. Terasawa","doi":"10.1016/B978-0-12-812939-5.00007-0","DOIUrl":"https://doi.org/10.1016/B978-0-12-812939-5.00007-0","url":null,"abstract":"","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1016/B978-0-12-812939-5.00007-0","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72539551","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Direct Neural Interface 直接神经接口
Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
Pub Date : 2019-01-01 DOI: 10.1016/b978-0-12-812939-5.00006-9
H. Tashiro, Marko B. Popovic, K. Iramina, Y. Terasawa, J. Ohta
{"title":"Direct Neural Interface","authors":"H. Tashiro, Marko B. Popovic, K. Iramina, Y. Terasawa, J. Ohta","doi":"10.1016/b978-0-12-812939-5.00006-9","DOIUrl":"https://doi.org/10.1016/b978-0-12-812939-5.00006-9","url":null,"abstract":"","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":"109 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74749818","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Feeding Systems, Assistive Robotic Arms, Robotic Nurses, Robotic Massage 采购产品喂养系统，辅助机器人手臂，机器人护士，机器人按摩
Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
Pub Date : 2019-01-01 DOI: 10.1016/b978-0-12-812939-5.00014-8
Marko B. Popovic
{"title":"Feeding Systems, Assistive Robotic Arms, Robotic Nurses, Robotic Massage","authors":"Marko B. Popovic","doi":"10.1016/b978-0-12-812939-5.00014-8","DOIUrl":"https://doi.org/10.1016/b978-0-12-812939-5.00014-8","url":null,"abstract":"","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":"17 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84043978","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Physical Therapy and Rehabilitation 物理治疗及康复
Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
Pub Date : 2019-01-01 DOI: 10.1016/b978-0-12-812939-5.00012-4
A. Goodworth, M. Johnson, Marko B. Popovic
{"title":"Physical Therapy and Rehabilitation","authors":"A. Goodworth, M. Johnson, Marko B. Popovic","doi":"10.1016/b978-0-12-812939-5.00012-4","DOIUrl":"https://doi.org/10.1016/b978-0-12-812939-5.00012-4","url":null,"abstract":"","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91267575","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Actuators 致动器
Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
Pub Date : 2019-01-01 DOI: 10.1016/b978-0-12-812939-5.00003-3
Marko B. Popovic, K. Lamkin-Kennard, P. Beckerle, M. P. Bowers
{"title":"Actuators","authors":"Marko B. Popovic, K. Lamkin-Kennard, P. Beckerle, M. P. Bowers","doi":"10.1016/b978-0-12-812939-5.00003-3","DOIUrl":"https://doi.org/10.1016/b978-0-12-812939-5.00003-3","url":null,"abstract":"","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":"11 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88724533","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 37
Evaluation of hand-eye and robot-world calibration algorithms for TMS application. TMS应用中手眼和机器人世界标定算法的评价。
Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
Pub Date : 2018-08-01 Epub Date: 2018-10-11 DOI: 10.1109/BIOROB.2018.8487930
A Noccaro, L Raiano, G Di Pino, D Formica

In this paper we compare three approaches to solve the hand-eye and robot-world calibration problem, for their application to a Transcranial Magnetic Stimulation (TMS) system. The selected approaches are: i) non-orthogonal approach (QR24); ii) stochastic global optimization (SGO); iii) quaternion-based (QUAT) method. Performance were evaluated in term of translation and rotation errors, and computational time. The experimental setup is composed of a 7 dof Panda robot (by Franka Emika GmbH) and a Polaris Vicra camera (by Northern Digital Inc) combined with the SofTaxic Optic software (by E.M.S. srl). The SGO method resulted to have the best performance, since it provides lowest errors and high stability over different datasets and number of calibration points. The only drawback is its computational time, which is higher than the other two, but this parameter is not relevant for TMS application. Over the different dataset used in our tests, the small workspace (sphere with radius of 0.05m) and a number of calibration points around 150 allow to achieve the best performance with the SGO method, with an average error of 0.83 ± 0.35mm for position and 0.22 ± 0.12deg for orientation.

本文比较了三种解决手眼和机器人世界校准问题的方法，并将其应用于经颅磁刺激(TMS)系统。选择的方法有:i)非正交法(QR24);ii)随机全局优化(SGO);iii)基于四元数(QUAT)的方法。根据平移和旋转误差以及计算时间来评估性能。实验装置由一个7自由度熊猫机器人(由Franka Emika GmbH)和一个北极星Vicra相机(由Northern Digital Inc .)结合SofTaxic Optic软件(由E.M.S. srl)组成。SGO方法在不同的数据集和校准点数量上提供了最低的误差和高的稳定性，因此具有最佳的性能。唯一的缺点是它的计算时间比其他两个高，但是这个参数与TMS应用无关。在我们测试中使用的不同数据集上，较小的工作空间(半径为0.05m的球体)和大约150个校准点允许使用SGO方法实现最佳性能，位置的平均误差为0.83±0.35mm，方向的平均误差为0.22±0.12度。
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引用次数: 3
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